getting started with usarsim - UvA...By this tutorial, you need to open four Terminal pages for...

getting started with usarsim

Amirreza Kabiri

Fatemeh Pahlevan

Autumn 2017

Outline

Intro

Requirements

Installation

Installation problems

How to setup

How to use

Robots

Amirreza Kabiri & Fatemeh Pahlevan @ Autumn 2017

Intro

USARSim was the first server used as a simulation infrastructure for a virtual robot

competition

In 2016, Robocup Virtual Robot Committees decided to change the server to

Gazebo/ROS

USARSim fans and previous Competitors could use the USARSim code to connect

to the Gazebo environments using the provided USARGazebo plugin.

In This Lecture, USARGazebo will be explained in some details according to the

RobocupRescuePackage.


https://github.com/m-shimizu/RoboCupRescuePackage

Hardware : a. core i-7(CLK 3GHz)b. Mem 8GBc. nVidia Geforce GTX780Ti

Software :a. Recommend :

i. Ubuntu 14ii. Gazebo 5 iii. Indigo

Requirements


Requirements

In Robocup 2017, Software requirements was as followed:

● Ubuntu 16.04● Kinetic● Gazebo7

As in Robocup 2017, all the teams decided to participate using ROS/Gazebo manner, this structure remained unchanged and there might be some changes in the following instructions.


Installation

First the Gazebo package should be installed.

It is worth mentioning that RobocupRescuePackage does not require ROS installation. So if any ROS version has not been installed, you only have to use following commands:

$ sudo apt-get install libgazebo5 libgazebo5-dev gazebo5

$ sudo apt-get install protobuf-compiler


Installation

If you already have install ROS indigo with desktop-full command, it may installed

Gazebo2. In the case, at first, you have to remove Gazebo 2, and then, you can install

Gazebo 5.

$ sudo apt-get purge gazebo2*

$ sudo apt-get autoremove

$ sudo apt-get install libgazebo5 libgazebo5-dev gazebo5



Installation Problems

In Gazebo5 installation, you will often encounter "broken dependency” error. So

don’t worry and just follow these 3 steps.

1: Start with a clean installed Ubuntu 14.

(no tips, just do it by an ordinally method)

2: ROS indigo installation, if you need ROS indigo.

$ sudo apt-get install ros-indigo-desktop



3: Gazebo5 installation with running over "broken dependency" error

$ sudo dpkg --configure -a

$ sudo apt-get install -f

$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu

`lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list'

$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

$ sudo apt-get update

$ sudo apt-get install libgazebo5 libgazebo5-dev

$ sudo apt-get install gazebo5




If you are already using Gazebo4 and ROS hydro by installing drcsim-hydro

package, you may need to install “libgazebo4-dev” package instead of “libgazebo5-

dev”.

$ sudo apt-get install libgazebo4-dev


How to setup

You can install “git ” or download the package from the github repository.

sudo apt-get update

sudo apt-get upgrade

sudo apt-get install git

$ cd ~

$ git clone https://github.com/m-shimizu/RoboCupRescuePackage/


https://github.com/m-shimizu/RoboCupRescuePackage/

How to setup

After downloading or cloning the RoboCupRescuePackage, you have to “make” it

using the following Commands:

$ cd ~/RoboCupRescuePackage

$ source ./.bashrc.USARGazebo

$ mkdir build

$ cd build

$ cmake ../

$ make


How to use

By this tutorial, you need to open four Terminal pages for running the package.

The following commands should be written in corresponding terminals.

1st Terminal:


$ source ./.bashrc.USARGazebo $ gazebo USARGazebo.world

Gazebo will be oppend and show the world file which is in the USARGazebo.world


How to use

2nd Terminal:

$ telnet localhost 3000

Now, These 3 Commands( GETSTARTPOSES, INIT, DRIVE) could be used in this terminal.

Here is some examples:

(1) GETSTARTPOSES

Getting Usable Start Location

(2) INIT {ClassName pioneer3at_with_sensors}{Name Robot1}{Location 5,10,0.3}{Rotation 0,0,0}

a. Spawn a pioneer3at robot named “robot1”at the coordinate (5 , 10 , 0.3) with no

rotation

b. Spawning multi robots requires 1 sec interval between each robot spawning.


How to use

2nd Terminal (Cont’):

DRIVE {RIGHT 1.0}{LEFT 1.0} Drive the robot with speed 1 in each wheelMULTIDRIVE {FRFlipper 1.57}{FLFlipper 1.57}{RRFlipper 1.57}{RLFlipper 1.57}Move flipper arms of a crawler robot with "MULTIDRIVE" command

3rd Terminal:

$ telnet localhost 5003

And then type “OK”

This command returns a frame of camera image in USARSim style.


How to use

3rd Terminal (Cont’):

● With this commands, you can get a long landscaped jpeg image consisted from 4

robot cameras.

● Each robot’s camera image has width=640 and height=480.

● Camera images are located side-by-side and first spawned robot's camera’s image is

located at left end of a jpeg image.

● If a robot has two cameras, currently you can see only right camera's image.


How to use

4th Terminal:


$ source ./.bashrc.USARGazebo

$ cd build

$ ./robot_teleop pioneer3at_with_sensors 2

Now, you can control the robot with keyboard.

"robot_teleop" is a program which have a plugin named"SkidSteerDrive" and

control the robot through the "/vel_cmd" topic.


How to use

4th terminal (Cont’):

In “robot_teleop”:

● The 1st argument is the robot model name. Please check it in the model name tree in

the left sidebar of the gazebo window. If you see a different name like

"pioneer3at_with_sensors_0", replace the 1st argument with it.

● The 2nd argument is a plugin type number defined in this program. You shouldn’t

change this argument.


How to use

4th terminal (Cont’):

● In order to stop this program, push control key and C key on your keyboard at same

time.

● Shutdown process of Gazebo needs 15~20 sec. You should wait at least this much

time to before starting the Gazebo again.


How to use

XML tags for USARGazebo in a world file are as followed

● Location and orientation of start point

<StartPose_1>LOCATIONNAME1 X Y Z Roll Pitch Yaw</StartPose_1>




● Turning Ground Truth on

<GroundTruth>true</GroundTruth>


Robots

pioneer3at_with_sensors series

a. Classname :

i. pioneer3at_with_sensors

ii. pioneer3at_with_sensors_r

iii. pioneer3at_with_sensors_b

iv. pioneer3at_with_sensors_g

v. pioneer3at_with_sensors_y

b. Equipments :

i. 2 encoder sensors

ii. 1 camera

iii. 1 range sensor


Robots

pioneer2dx_with_sensors series

a. Classname :

i. pioneer2dx_with_sensors_r

ii. pioneer2dx_with_sensors_b

iii. pioneer2dx_with_sensors_g

iv. pioneer2dx_with_sensors_y

b. Equipments :

i. 1 camera

ii. 1 range sensor


Robots

turtlebot_with_sensors series

a. Classname :

i. turtlebot_with_sensors_r

ii. turtlebot_with_sensors_b

iii. turtlebot_with_sensors_g

iv. turtlebot_with_sensors_y

b. Equipments :

i. 1 camera

ii. 1 range sensor


Robot

crawler_robot series

a. Classname :

i. crawler_robot_r

ii. crawler_robot_b

iii. crawler_robot_g

iv. crawler_robot_y

b. Equipments :

i. 1 camera

ii. 1 range sensor

iii. 4 flipper arms.


Robots

crawler_robot series

a. Flipper arms : i. You can control the angle of a flipper arm with MULTIDRIVE command.

ii. MULTIDRIVE {FRFlipper 1.57}{FLFlipper 1.57}{RRFlipper 1.57}{RLFlipper 1.57}


Sample client

A sample client software was prepared to show fundamental usage of the

RoboCupRescuePackage.

See https://github.com/m-shimizu/USARSimSampleClient

In USARSimSampleClient :

○ You can spawn 4 robots

○ 4 robot's camera images transferred in jpeg format are shown on rviz


https://github.com/m-shimizu/USARSimSampleClient

Workable USARSim command

USARSim commands○ INIT

○ GETCONF

○ GETGEO

○ DRIVE

○ MULTIDRIVE

i. only for controlling flipper arms

○ GETSTARTPOSES

i. It can return effective start point parameters

ii. It can not read parameters from map but it can read those from world file as plugin

options

Image Server○ OK (return Jpeg image)


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